Simulation of the motion of a five-link crawling robot with controlled friction on a surface having obstacles
- 作者: Vorochaeva L.1, Yatsun A.1, Yatsun S.1
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隶属关系:
- Southwest State University
- 期: 卷 56, 编号 3 (2017)
- 页面: 527-552
- 栏目: Robotics
- URL: https://journals.rcsi.science/1064-2307/article/view/219918
- DOI: https://doi.org/10.1134/S1064230717030133
- ID: 219918
如何引用文章
详细
We consider the motion of a five-link crawling robot in an environment with obstacles located discretely. The robot is fitted with special controlled friction elements for the periodic fixation of links on the surface and has a possibility of the spatial configuration change due to a detachment of the end links from the surface. One of the possible crawling modes is analyzed as the end links are detached from the surface and the adjacent links rotate by a given angle in the plane of motion without interaction with obstacles. As the result of simulating by the numerical method, we establish the dependence between the average velocity of the plant (and its maneuverability between obstacles) and control values.
作者简介
L. Vorochaeva
Southwest State University
编辑信件的主要联系方式.
Email: teormeh@inbox.ru
俄罗斯联邦, Kursk, 305040
A. Yatsun
Southwest State University
Email: teormeh@inbox.ru
俄罗斯联邦, Kursk, 305040
S. Yatsun
Southwest State University
Email: teormeh@inbox.ru
俄罗斯联邦, Kursk, 305040